4 papers · 1 filter
Data-to-Certificates (D2C): Koopman Supereigenfunctions for Stability, Safety, and Control
Umesh Vaidya
Traditional dynamical system models, including Koopman operator representations, are fundamentally equality-based, whereas many analysis and control tools rely on inequalities. Thi…
Spectral Koopman-Hopf Formula for Reachability with Adversary
Sarang Sutavani, Umesh Vaidya
This paper develops a spectral Koopman-Hopf framework for adversarial reachability analysis of nonlinear systems. By lifting the nonlinear drift dynamics into Koopman eigenfunction…
Discovering the Kalman-Bucy-Koopman Filter
Umesh Vaidya
This paper introduces the Kalman-Bucy-Koopman (KBK) filter, a novel framework for nonlinear state estimation grounded in Koopman operator spectral theory. The nonlinear estimation…
RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while…